Remote center compliance

In robotics, a remote center compliance, remote center of compliance or RCC is a mechanical device that facilitates automated assembly by preventing peg-like objects from jamming when they are inserted into a hole with tight clearance.

If the peg is perfectly aligned and centered, it would then slide into the hole.

The RCC changes the way the peg responds to a lateral force at its tip.

The RCC lets the gripper assembly move in the plane perpendicular to the peg's axis, allowing the peg to rotate about an axis in the plane of the top of the hole, effectively moving the center of compliance from the gripper to the hole.

With the RCC, the forces generated by any misalignment move the peg in a way that corrects the problem, rather than exacerbates it.